CN113247519A - Intelligent loading and unloading device and method for visual control - Google Patents
Intelligent loading and unloading device and method for visual control Download PDFInfo
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- CN113247519A CN113247519A CN202110520368.0A CN202110520368A CN113247519A CN 113247519 A CN113247519 A CN 113247519A CN 202110520368 A CN202110520368 A CN 202110520368A CN 113247519 A CN113247519 A CN 113247519A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000000007 visual effect Effects 0.000 title claims abstract description 17
- 238000013499 data model Methods 0.000 claims abstract description 6
- 238000013500 data storage Methods 0.000 claims description 6
- 238000012546 transfer Methods 0.000 claims description 6
- 238000012986 modification Methods 0.000 claims description 2
- 230000004048 modification Effects 0.000 claims description 2
- 238000013528 artificial neural network Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003062 neural network model Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention is suitable for the technical field of handling equipment, and provides an intelligent handling device and method for visual control, wherein the intelligent handling device for visual control comprises: the loading and unloading box module is internally provided with an accommodating space and a goods shelf and is mainly used for storing goods; the visual module is used for acquiring the assembling position information and estimating the assembling position information through the data model; the assembly execution module is used for grabbing, transporting, adjusting the height and outputting goods; the position sensor is arranged on the assembly execution module and used for sensing the distance between the assembly execution module and the goods shelf and obtaining a measured distance; and the control unit is used for receiving the assembly position information, reasoning the assembly position information, acquiring an assembly target position, analyzing the measured distance and the assembly target position and correcting the measured distance and the assembly target position. The invention has the advantages that: the loading and unloading device has the advantages of accurate loading, high loading and unloading efficiency and good safety.
Description
Technical Field
The invention belongs to the technical field of loading and unloading equipment, and particularly relates to an intelligent loading and unloading device and method for visual control.
Background
With the development of science and technology, the manufacturing industry and the transportation industry have been developed rapidly, the loading and unloading equipment is a common auxiliary device in the manufacturing industry, and at present, the loading and unloading equipment is basically controlled manually in a factory, and the loading and unloading of goods are realized by adjusting a loading and unloading vehicle. The loading and unloading work is usually repeated and simple operation, so that the attention of an operator is not concentrated, and further, the accuracy of the operation process is insufficient and the loading and unloading efficiency is low; meanwhile, the actual demand position and the loading and unloading position are inaccurate in the actual use process, and the randomness of operation is increased.
Disclosure of Invention
The embodiment of the invention aims to provide an intelligent loading and unloading device and method for visual control, and aims to solve the problem of insufficient precision.
The invention is thus realized, a vision-controlled intelligent handling device, comprising:
the loading and unloading box module is internally provided with an accommodating space and a goods shelf and is mainly used for storing goods;
the visual module is used for acquiring the assembling position information and estimating the assembling position information through the data model; the method comprises the steps of establishing point cloud data through stored digital position information on a cloud workshop map, and estimating assembly position information through comparing the stored map data;
the assembly execution module is used for grabbing, transporting, adjusting the height and outputting goods;
the position sensor is arranged on the assembly execution module, senses the distance between the assembly execution module and the goods shelf by utilizing a laser calibration technology and obtains a measured distance, namely the actual distance between the execution module and the goods shelf;
and the control unit is used for receiving the assembly position information, carrying out reasoning fitting on the assembly position information by utilizing the trained neural network, obtaining the assembly target distance, analyzing the measured distance and the assembly target position and correcting the measured distance and the assembly target position.
Another object of the present invention is to provide a vision-controlled intelligent loading and unloading method, including:
the method comprises the steps that firstly, a visual module acquires assembly position information on a loading and unloading box module, an assembly target point is calibrated, and an assembly position point, namely assembly position information, is estimated by using a least square method by using a stored cloud workshop map and combining position information between the target point and an execution module acquired by the visual module;
secondly, the control unit receives the assembly position information, performs rational fitting on the assembly position information by using the trained neural network, performs reasoning on the assembly position information and acquires an assembly distance;
step three, the control unit compares the estimated distance with the assembling distance;
step four, judging results are consistent, and controlling an assembly execution module to grab the goods;
fifthly, judging that the results are inconsistent, sensing the distance between the assembly execution module and the goods shelf by the position sensor to obtain a measured distance, correcting the position of an assembly target by the control unit through the measured distance, and controlling the assembly execution module to grab goods;
and step six, the assembly execution module moves the assembly target point and transfers and loads the goods into the loading and unloading box module.
The automatic grabbing, conveying and outputting are carried out through the assembly execution module, the automatic loading and unloading of goods are achieved, manual operation is avoided, the working efficiency is improved, goods damage caused by improper operation is avoided, and the loading and unloading safety is improved. The control unit is used for controlling and correcting the position, so that the loading accuracy is improved. The invention has the advantages that: the loading and unloading device has the advantages of accurate loading, high loading and unloading efficiency and good safety.
Drawings
FIG. 1 is a block diagram of a process for visually controlling an intelligent handler according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for intelligent handling of visual control according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
As shown in fig. 1, a flow chart of a visually controlled intelligent handling apparatus according to an embodiment of the present invention includes:
the loading and unloading box module is internally provided with an accommodating space and a goods shelf and is mainly used for storing goods;
the visual module is used for acquiring the assembling position information and estimating the assembling position information through the data model; the method comprises the steps of establishing point cloud data through stored digital position information on a cloud workshop map, and estimating assembly position information through comparing the stored map data;
the assembly execution module is used for grabbing, transporting, adjusting the height and outputting goods;
the position sensor is arranged on the assembly execution module, senses the distance between the assembly execution module and the goods shelf by utilizing a laser calibration technology and obtains a measured distance, namely the actual distance between the execution module and the goods shelf;
and the control unit is used for receiving the assembly position information, carrying out reasoning fitting on the assembly position information by utilizing the trained neural network, obtaining the assembly target distance, analyzing the measured distance and the assembly target position and correcting the measured distance and the assembly target position.
In the embodiment of the invention, a visual module is started to obtain the assembly position information on a loading and unloading box module, an assembly target point is calibrated, and the distance between an assembly execution module and the assembly target point is estimated; the control unit receives the assembly position information, infers the assembly position information to obtain an assembly target position, the position sensor senses the distance between the assembly execution module and the goods shelf and obtains a measured distance, the control unit analyzes and corrects the measured distance and the assembly target position and controls the assembly execution module to grab goods, and the assembly execution module moves an assembly target point and transfers and loads the goods into the loading and unloading box module.
As a preferred embodiment of the invention, the assembly execution module travels through the rail, so that the traveling stability of the assembly execution module is increased, the assembly execution module is convenient to grab and transfer and position, and the unsmooth operation caused by poor stability is avoided. The track is a ground type moving guide rail, so that the gravity is converted into friction force through assembling the execution module, and the walking stability is improved.
As a preferred embodiment of the present invention, the shelf is a truss type shelf, thereby increasing the amount of goods placed.
As a preferred embodiment of the present invention, the vision module includes a camera, a position calibration unit, and a position estimation unit; the camera shoots the goods shelf to obtain assembly position information, the assembly position information is transmitted to the position calibration unit, the position calibration unit calibrates the position of the goods shelf which is not loaded to obtain calibration position information, meanwhile, the calibration position information is sent to the position estimation unit, the position estimation unit estimates the calibration position information through the data model to obtain an estimated distance, and the estimated distance is the distance between the assembly execution module and the calibration position obtained through the position estimation unit.
As a preferred embodiment of the invention, the assembly execution module comprises a mechanical assembly vehicle, an automatic pushing unit and a mechanical lifting unit; the mechanical assembly vehicle is used for grabbing, transporting and outputting goods; the mechanical lifting unit is connected with the mechanical assembly vehicle and used for driving the assembly vehicle to lift; and the automatic pushing unit is used for driving the assembly execution module to walk. The goods are placed at the appointed position, the mechanical lifting unit drives the mechanical assembly vehicle to lift to enable the height of the mechanical assembly vehicle to be consistent with the goods, the mechanical assembly vehicle finishes grabbing of the goods, the automatic pushing unit drives the goods to move to the assembly target position, and the mechanical assembly vehicle finishes goods output and transfers the goods to the goods shelf. M in the attached drawings refers to the general name of a motor in the mechanical assembly vehicle and is the power output of the mechanical assembly vehicle.
As a preferred embodiment of the present invention, a distance sensor is provided on the assembly execution module, and the distance sensor is used to determine whether the assembly target position and the shelf are in the same straight line. If the goods are loaded on the same straight line, the goods are output, and if the goods are not on the same straight line, the adjustment is carried out.
As a preferred embodiment of the invention, the automatic pushing unit is provided with a rotating speed sensor, and the loading speed of the assembly execution module can be evaluated through the rotating speed sensor, so that the speed is limited before the assembly execution module reaches the assembly target position, the assembly time is shortened, and the accuracy of assembly positioning is improved.
As a preferred embodiment of the invention, the position sensor is a laser type position sensor, and the laser type position sensor is used for sensing the distance between the assembly execution module and the goods shelf, so that the sensing is accurate and the accurate positioning is convenient. The measured distance, namely the distance between the assembly execution module and the goods shelf is obtained through the induction of the position sensor, so that the accurate conveying distance is obtained. The measurement distance is a distance between the assembly execution module and the shelf, and the movement and the advancement of the assembly execution module can be corrected by measuring the distance.
As another preferred embodiment of the invention, the control unit comprises a working data storage unit, a knowledge base, an inference unit and a parameter correction unit; the working data storage unit is connected with the knowledge base, the working data storage unit transmits the assembling position information to the knowledge base, the knowledge base transmits the assembling position information to the reasoning unit, the reasoning unit analyzes the assembling position information according to the knowledge base data, the parameter correcting unit conducts reasoning on the analyzed assembling position information and obtains the assembling distance, the assembling distance is that the assembling position information is used as original data, the trained fuzzy neural network model is used for conducting reasoning on the knowledge base data so as to obtain the distance between the assembling execution module and the calibration position, and the intelligentization of assembling is achieved.
As shown in fig. 2, an embodiment of the present invention further provides a visually controlled intelligent loading and unloading method, including:
the method comprises the steps that firstly, a visual module acquires assembly position information on a loading and unloading box module, an assembly target point is calibrated, and an assembly position point, namely assembly position information, is estimated by using a least square method by using a stored cloud workshop map and combining position information between the target point and an execution module acquired by the visual module;
secondly, the control unit receives the assembly position information, performs rational fitting on the assembly position information by using the trained neural network, performs reasoning on the assembly position information and acquires an assembly distance;
step three, the control unit compares the estimated distance with the assembling distance;
step four, judging results are consistent, and controlling an assembly execution module to grab the goods;
fifthly, judging that the results are inconsistent, sensing the distance between the assembly execution module and the goods shelf by the position sensor to obtain a measured distance, correcting the position of an assembly target by the control unit through the measured distance, and controlling the assembly execution module to grab goods;
and step six, the assembly execution module moves the assembly target point and transfers and loads the goods into the loading and unloading box module.
The intelligent loading and unloading device based on visual control is provided, automatic grabbing, conveying and outputting are carried out through the assembly execution module, automatic loading and unloading of goods are achieved, manual operation is avoided, working efficiency is improved, goods damage caused by improper operation is avoided, and loading and unloading safety is improved. The control unit is used for controlling and correcting the position, so that the loading accuracy is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A visually controlled intelligent handling device, comprising:
the loading and unloading box module is internally provided with an accommodating space and a goods shelf and is mainly used for storing goods;
the visual module is used for acquiring the assembling position information and estimating the assembling position information through the data model;
the assembly execution module is used for grabbing, transporting, adjusting the height and outputting goods;
the position sensor is arranged on the assembly execution module and used for sensing the distance between the assembly execution module and the goods shelf and obtaining a measured distance;
and the control unit is used for receiving the assembly position information, reasoning the assembly position information, acquiring an assembly target position, analyzing the measured distance and the assembly target position and correcting the measured distance and the assembly target position.
2. The visually controlled intelligent handling device of claim 1, wherein the assembly execution module travels via a track.
3. A visually controlled intelligent handling device according to claim 2, wherein said track is a ground-based moving rail.
4. The intelligent handling device of claim 1, wherein the vision module comprises a camera, a position calibration unit, a position estimation unit; the camera shoots the goods shelf to obtain the assembly position information, and transmits the assembly position information to the position calibration unit; the position calibration unit is connected with the camera, calibrates the position of the unloaded goods shelf to obtain calibration position information, and simultaneously sends the calibration position information to the position estimation unit; the position estimation unit is connected with the position calibration unit and estimates the calibration position information through the data model.
5. The intelligent visually controlled loading and unloading device according to any one of claims 1 to 4, wherein the assembly execution module comprises an assembly vehicle unit, an automatic pushing unit and a lifting unit; the assembly vehicle unit is used for grabbing, transporting and outputting goods; the lifting unit is connected with the assembly vehicle unit and used for driving the assembly vehicle to lift; and the automatic pushing unit is used for driving the assembly execution module to walk.
6. The intelligent visually controlled loading and unloading device according to claim 1, wherein the assembly execution module is provided with a distance sensor for determining whether the assembly target position is in the same straight line with the shelf.
7. The intelligent visually controlled handling device of claim 1, wherein the automatic pushing unit is provided with a rotation speed sensor for transmitting speed data.
8. A visually controlled intelligent handling device according to claim 1, wherein said position sensor is a laser type position sensor.
9. A visually controlled intelligent handling device according to claim 1, wherein said control unit comprises a working data storage unit, a knowledge base, an inference unit, a parameter modification unit; the working data storage unit is connected with the knowledge base, the working data storage unit transmits the assembling position information to the knowledge base, the knowledge base transmits the assembling position information to the reasoning unit, the reasoning unit analyzes the assembling position information according to the knowledge base data, and the parameter correcting unit corrects the analyzed assembling position information.
10. A vision-controlled intelligent handling method is characterized by comprising the following steps:
starting a vision module to acquire assembling position information on a loading and unloading box module, calibrating an assembling target point, and estimating the distance between an assembling execution module and the assembling target point;
the control unit receives the assembly position information, and infers the assembly position information to acquire an assembly target position;
the position sensor senses the distance between the assembly execution module and the goods shelf and obtains a measured distance;
the control unit analyzes and corrects the measured distance and the assembly target position, and controls the assembly execution module to grab the goods;
and the assembly execution module moves the assembly target point and transfers and loads the goods into the loading and unloading box module.
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| CN202110520368.0A CN113247519A (en) | 2021-05-13 | 2021-05-13 | Intelligent loading and unloading device and method for visual control |
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